CanServo/Speed

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CAN 서보에서 속도의 단위는 pos/100msec 입니다.

pos 의 단위는 16384 = 360 deg 입니다.

Vt (sec/60deg) 와 Vp (pos/100msec) 의 변환식은 다음과 같습니다. 단, PT = Reg PID TIME, PX = PT / 10

  • Vp = 60 x 16384 / 360 / Vt / 10 x PX
  • Vt = 60 x 16384 / 360 / Vp / 10 x PX

ex) 1920 pos/100msec = 0.142 sec/60deg, PT=10

ex) 1920 pos/100msec = 0.284 sec/60deg, PT=20

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